相关论文: Two Globally Convergent Adaptive Speed Observers f…

Fast appearance variations and the distractions of similar objects are two of the most challenging problems in visual object tracking. Unlike many existing trackers that focus on modeling only the target, in this work, we consider the…

A modification of Coulomb's law of friction uses a variable coefficient of friction that depends on a power law in the energy of mechanical oscillation. Through the use of three different exponents: 0, 1/2 and 1; all commonly encountered…

Control systems are inevitably affected by external disturbances, and a major objective of the control design is to attenuate or eliminate their adverse effects on the system performance. This paper presents a disturbance rejection approach…

A state observer design for the inertia wheel pendulum considering static friction of the actuated inertia disc is presented. The frictional force is modeled by the Stribeck effect, with two separate differential equations describing the…

This paper deals with the problem of estimating the state of a linear time-invariant system in the presence of sporadically available measurements and external perturbations. An observer with a continuous intersample injection term is…

In this paper, we propose two projection dynamical systems for solving inverse quasi-variational inequality problems in finite-dimensional Hilbert spaces-one ensuring finite-time stability and the other guaranteeing fixed-time stability. We…

In this paper, a new adaptive design method is proposed for reaction force observer (RFOB) based robust force control systems. It is a well-known fact that an RFOB has several superiorities over a force sensor such as higher force control…

Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) measurements, is an important problem in the control of…

We propose a model for representing a point mass subject to Coulomb friction in feedback with a PID controller, based on a differential inclusion comprising all the possible magnitudes of static friction during the stick phase. For this…

This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we…

In this work, we present a mixed sensorless strategy for Permanent Magnets Synchronous Machines, combining a torque/current controller and an observer for position, speed, flux and stator resistance. The proposed co-design is motivated by…

In this article we describe a stable partitioned algorithm that overcomes the added mass instability arising in fluid-structure interactions of light rigid bodies and inviscid compressible flow. The new algorithm is stable even for bodies…

In this paper, we develop and analyze an integral fixed-time sliding mode control method for a scenario in which the system model is only partially known, utilizing Gaussian processes. We present two theorems on fixed-time convergence. The…

This paper presents three non-linear observers on three examples of engineering interest: a chemical reactor, a non-holonomic car, and an inertial navigation system. For each example, the design is based on physical symmetries. This…

This paper addresses the robustness of a prescribed-time observer for a class of nonlinear systems in the presence of disturbances and unmodeled dynamics. It is proven and demonstrated through simulations that the proposed observer…

This paper presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to track a given desired attitude trajectory, while guaranteeing almost semi-global…

Unmanned underwater vehicles are increasingly employed for maintenance and surveying tasks at sea, but their operation in shallow waters is often hindered by hydrodynamic disturbances such as waves, currents, and turbulence. These unsteady…

Robust online estimation of oscillation frequency belongs to classical problems of system identification and adaptive control. The given harmonic signal can be noisy and with varying amplitude at the same time, as in the case of damped…

This study presents a novel, continuous finite-time control strategy for a class of nonlinear systems subject to matched uncertainties with unknown bounds. We propose an Adaptive Disturbance Observer-based Full-order Integral-Terminal…

This is the last part of four series papers, aiming at stabilization for signal-input-signaloutput (SISO) linear finite-dimensional systems corrupted by general input disturbances. A new observer, referred to as Extended Dynamics Observer…